EP2848488B2 - Procédé et agencement pour avertissement de transfert de commande dans un véhicule possédant des capacités de conduite autonome - Google Patents

Procédé et agencement pour avertissement de transfert de commande dans un véhicule possédant des capacités de conduite autonome Download PDF

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Publication number
EP2848488B2
EP2848488B2 EP13184098.5A EP13184098A EP2848488B2 EP 2848488 B2 EP2848488 B2 EP 2848488B2 EP 13184098 A EP13184098 A EP 13184098A EP 2848488 B2 EP2848488 B2 EP 2848488B2
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EP
European Patent Office
Prior art keywords
vehicle
warning
arrangement
driver
driving
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EP13184098.5A
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German (de)
English (en)
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EP2848488A1 (fr
EP2848488B1 (fr
Inventor
Staffan Davidsson
Sicheng Chen
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Volvo Car Corp
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Volvo Car Corp
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Application filed by Volvo Car Corp filed Critical Volvo Car Corp
Priority to EP13184098.5A priority Critical patent/EP2848488B2/fr
Priority to US14/478,618 priority patent/US9235211B2/en
Publication of EP2848488A1 publication Critical patent/EP2848488A1/fr
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Publication of EP2848488B1 publication Critical patent/EP2848488B1/fr
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/005—Handover processes
    • B60W60/0057—Estimation of the time available or required for the handover
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/005—Handover processes
    • B60W60/0053—Handover processes from vehicle to occupant
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/005—Handover processes
    • B60W60/0059—Estimation of the risk associated with autonomous or manual driving, e.g. situation too complex, sensor failure or driver incapacity
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0019—Control system elements or transfer functions
    • B60W2050/0022—Gains, weighting coefficients or weighting functions
    • B60W2050/0025—Transfer function weighting factor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0062—Adapting control system settings
    • B60W2050/007—Switching between manual and automatic parameter input, and vice versa
    • B60W2050/0072—Controller asks driver to take over
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0062—Adapting control system settings
    • B60W2050/007—Switching between manual and automatic parameter input, and vice versa
    • B60W2050/0073—Driver overrides controller
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0062—Adapting control system settings
    • B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
    • B60W2050/0095—Automatic control mode change
    • B60W2050/0096—Control during transition between modes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/223—Posture, e.g. hand, foot, or seat position, turned or inclined
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/225—Direction of gaze

Definitions

  • Embodiments herein relate to an arrangement for handover warning in a vehicle having autonomous driving capabilities.
  • Still further embodiments herein relate to a vehicle having autonomous driving capabilities comprising an arrangement for handover warning.
  • a previous document, US8433470 relates to a user interface for displaying an internal state of an autonomous driving system.
  • a control computer of the automated vehicle it may immediately convey this information to a passenger in a variety of ways. For example, if the control computer is no longer able to control the vehicle safely, illuminated indicators may change color, to inform the user of the immediate need to take control of the steering wheel.
  • the control computer may also send audio alerts to the passenger stating that there is an emergency and the passenger is required to take control of the steering wheel.
  • the control computer may further use cameras to scan the passenger's eyes and/or other features. If the control computer determines that the eyes are closed or the body is slumped over (e.g. the passenger is sleeping or under the influence of drugs or alcohol), the control computer may take emergency control of the vehicle and use audible alerts to wake or otherwise get the attention of the driver.
  • a vehicle driver may be otherwise occupied e.g. resting, reading, watching a movie or similar, which depending on the circumstances will affect the vehicle driver's readiness to respond to a request to assume manual control of the vehicle.
  • Embodiments herein aim to provide an improved arrangement for handover warning in a vehicle having autonomous driving capabilities and a vehicle controller arranged to control unmanned autonomous travel.
  • monitoring means arranged to monitor if there is a need to transition from unmanned autonomous travel to manual control of the vehicle
  • a detecting arrangement arranged to monitor a vehicle driver and evaluate the vehicle driver's readiness to assume the act of driving the vehicle
  • warning arrangement arranged to provide warning information when driver-handover is requested by the monitoring means, which warning arrangement is further arranged to adapt warning information timing in respect to the evaluated vehicle driver's readiness to assume the act of driving the vehicle
  • warning output system arranged to output the time adapted warning information to a vehicle passenger compartment.
  • Utilizing an arrangement of the above kind provides for ensuring that an inactive vehicle driver is given adequate time to prepare for a handover from unmanned autonomous travel to manual control of the vehicle.
  • the warning arrangement is arranged to adapt warning information timing such that the warning output system will output the warning information earlier if the vehicle driver's readiness to assume the act of driving the vehicle is detected as low, and later if the vehicle driver's readiness to assume the act of driving the vehicle is detected as high.
  • warning information timing is provided for tailoring the amount of time given an inactive vehicle driver to prepare for a handover from unmanned autonomous travel to manual control of the vehicle to the current readiness level of the vehicle driver.
  • the warning arrangement is further arranged to adapt warning information emergency such that the warning output system will output the warning information with higher emergency if the vehicle driver's readiness to assume the act of driving the vehicle is detected as low, and lower emergency if the vehicle driver's readiness to assume the act of driving the vehicle is detected as high.
  • warning information emergency as above is provided for tailoring the emergency level of the warning information to the current readiness level of the vehicle driver, such that the emergency of the warning information corresponds to the amount of time given an inactive vehicle driver to prepare for a handover from unmanned autonomous travel to manual control of the vehicle.
  • the detecting arrangement further comprises driver monitoring sensors and input arrangements comprising at least one of a driver monitoring camera, a steering wheel torque sensor and a seat position detection arrangement.
  • driver monitoring sensors and input arrangements as above provides for qualitative determination of the current readiness level of the vehicle driver.
  • the monitoring means are arranged to monitor the availability of inputs to the vehicle controller for monitoring if these are sufficient for maintaining unmanned autonomous travel of the vehicle or if there is a need to transition from unmanned autonomous travel to manual control of the vehicle.
  • the provision of monitoring if inputs to the vehicle controller are sufficient for maintaining unmanned autonomous travel of the vehicle provides the monitoring means with a qualitative base for its driver-handover requests.
  • the monitoring means are arranged to monitor the availability of inputs to the vehicle controller comprising inputs from at least one of onboard systems for detection of surrounding vehicles, detection of traffic lanes, detection of obstacles and systems for providing navigation data.
  • the provision of monitoring the availability of inputs from at least one of onboard systems for detection of surrounding vehicles, detection of traffic lanes, detection of obstacles and systems for providing navigation data provides the monitoring means with a qualitative base for its driver-handover requests.
  • the detecting arrangement further comprises driver monitoring sensors and input arrangements comprising a driver gaze direction determining arrangement.
  • a driver gaze direction determining arrangement provides for determining if the driver's eyes are on or off the road, which is useful for evaluating the vehicle driver's readiness to assume the act of driving the vehicle.
  • the warning output system is arranged to output the time adapted warning information to the vehicle passenger compartment as at least one of a visual warning, an audio warning and a haptic warning.
  • the provision of the time adapted warning information as at least one of a visual warning, an audio warning and a haptic warning provides for a high degree of certainty that the vehicle driver will be able to perceive the warning information.
  • a motor vehicle having autonomous driving capabilities which comprises an arrangement for handover warning, as described herein.
  • a motor vehicle having autonomous driving capabilities comprising an arrangement for handover warning, as described herein, will ensure that an inactive vehicle driver is given adequate time to prepare for a handover from unmanned autonomous travel to manual control of the vehicle.
  • a ninth aspect is further provided a method for handover warning in a vehicle having autonomous driving capabilities and a vehicle controller, arranged to control unmanned autonomous travel.
  • This is provided through a method comprising the steps of: monitoring if there is a need to transition from unmanned autonomous travel to manual control of the vehicle using monitoring means; monitoring a vehicle driver and evaluating the vehicle driver's readiness to assume the act of driving the vehicle using a detecting arrangement; providing warning information when driver-handover is requested by the monitoring means, and adapting warning information timing in respect to the evaluated vehicle driver's readiness to assume the act of driving the vehicle using a warning arrangement; and outputting the time adapted warning information to a vehicle passenger compartment using a warning output system.
  • Utilizing a method for handover warning in a vehicle having autonomous driving capabilities as above provides for an efficient method that allows for ensuring that an inactive vehicle driver is given adequate time to prepare for a handover from unmanned autonomous travel to manual control of the vehicle.
  • Figure 1 is a schematic illustration of a vehicle 2 having autonomous driving capabilities comprising an arrangement 1 for handover warning according to embodiments hereof.
  • passenger car vehicles 2 For simplicity only passenger car vehicles 2 will be considered in the following description. However, the teachings provided herein may be expanded to consider commercial vehicles, such as buses, trucks and similar vehicles having autonomous driving capabilities, without loss of generality.
  • Figure 2 illustrates the arrangement 1 for handover warning in a vehicle 2 having autonomous driving capabilities and a vehicle controller 3, arranged to control unmanned autonomous travel according to an exemplary embodiment.
  • a vehicle 2 having autonomous driving capabilities will include a vehicle controller 3 for controlling unmanned autonomous driving.
  • the vehicle controller 3 will e.g. pursue a route to a final destination, and control the vehicle 2 so that the vehicle 2 can perform autonomous driving along the route to the final destination in an unmanned manner.
  • vehicle controller 3 will detect the object, using vehicle 2 sensor systems (not shown) such as one or more of a Radio Detection And Ranging (RADAR) sensor, a Light Detection And Ranging (LIDAR) sensor, a Light Amplification by Stimulated Emission of Radiation (LASER) sensor, an ultrasound sensor, an infrared sensor, an image sensor, or any combination thereof.
  • vehicle controller 3 will control vehicle 2 actuators (not shown), such as steering, braking and throttle actuators, in order to avoid the detected obstacle, or temporarily halt vehicle 2 travel in order to avoid a collision with the detected object.
  • the arrangement 1 comprises monitoring means 4, arranged to monitor if there is a need to transition from unmanned autonomous travel to manual control of the vehicle 2.
  • These monitoring means may comprise a processor (not shown), which is arranged to monitor one or more vehicle parameters while the vehicle 2 is performing autonomous driving.
  • the term parameter is here used to identify a characteristic, a feature, a measurable factor or any other kind of recordable data which relates to a scenario where the vehicle 2 is performing autonomous driving.
  • a detecting arrangement 5 is arranged to monitor a vehicle driver 6 and evaluate the vehicle driver's readiness to assume the act of driving the vehicle 2.
  • the vehicle driver's readiness to assume the act of driving the vehicle 2 may be detected as low or high, or graded anywhere there in-between.
  • Evaluation of the vehicle driver's 6 readiness to assume the act of driving the vehicle 2 may be evaluated in dependence on whether the vehicle driver 6 is assuming a posture appropriate for the driving situation with respect to operating controls of the vehicle 2, such as steering wheel and pedals.
  • a warning arrangement 7, is arranged to provide warning information when driver-handover is requested by the monitoring means 4.
  • the warning arrangement 7 is further arranged to adapt warning information timing in respect to the evaluated vehicle driver's readiness to assume the act of driving the vehicle 2.
  • a warning output system 8 is arranged to output the time adapted warning information (illustrated in figure 2 by arrow 12) to a vehicle 2 passenger compartment 9.
  • the warning output system 8 is arranged to output the time adapted warning information to the vehicle 2 passenger compartment 9 as at least one of a visual warning, an audio warning and a haptic warning.
  • warning information it may for example be output by means of one or more lamps or display devices (nor shown).
  • audio warning information it may for example be output by one or more speakers or horns in the form of e.g. a signal tone or voice announcement.
  • haptic warning information it may for example be provided through vibrating the steering wheel, the driver seat or the accelerator pedal.
  • the warning arrangement 7 is arranged to adapt warning information timing such that the warning output system 8 will output the warning information earlier if the vehicle driver's readiness to assume the act of driving the vehicle 2 is detected as low, and later if the vehicle driver's readiness to assume the act of driving the vehicle 2 is detected as high.
  • Warning information timing may be adapted continuously should the evaluated vehicle driver's 6 readiness to assume the act of driving the vehicle 2 be graded anywhere in-between low or high and corresponding to the current grading. This enables a linear tailoring of the amount of time given an inactive vehicle driver 6 to prepare for a handover from unmanned autonomous travel to manual control of the vehicle 2 to a current readiness level of the vehicle driver 6.
  • the warning arrangement 7 is arranged to adapt warning information emergency such that the warning output system 8 will output the warning information with higher emergency if the vehicle driver's readiness to assume the act of driving the vehicle 2 is detected as low, and lower emergency if the vehicle driver's readiness to assume the act of driving the vehicle 2 is detected as high.
  • Warning information emergency may be adapted continuously should the evaluated vehicle driver's 6 readiness to assume the act of driving the vehicle 2 be graded anywhere in-between low or high and corresponding to the current grading. This enables a linear tailoring of the emergency of the warning information which corresponds to the amount of time given an inactive vehicle driver 6 to prepare for a handover from unmanned autonomous travel to manual control of the vehicle 2.
  • the detecting arrangement 5 further comprises driver monitoring sensors and input arrangements (illustrated in figure 2 by arrow 11) comprising at least one of a driver monitoring camera 5a, a steering wheel torque sensor 5b and a seat position detection arrangement 5c.
  • the driver monitoring camera 5a may comprise processing means for performing image analysis, e.g. for determining a position of the vehicle driver 6.
  • Use of driver monitoring sensors and input arrangements of the above described kinds provides for qualitative determination of the current readiness level of the vehicle driver 6.
  • the monitoring means 4 are arranged to monitor the availability of inputs to the vehicle controller 3 for monitoring if these are sufficient for maintaining unmanned autonomous travel of the vehicle 2 or if there is a need to transition from unmanned autonomous travel to manual control of the vehicle 2.
  • the monitoring means 4 are arranged to monitor the availability of inputs (illustrated in figure 2 by arrow 10) to the vehicle controller 3 comprising inputs from at least one of onboard systems for detection of surrounding vehicles, detection of traffic lanes, detection of obstacles and systems for providing navigation data.
  • Onboard systems of the above kind may comprise systems such as a navigation system, such as a global positioning system (GPS) or equivalent, cruise control systems, so-called ACC (Adaptive Cruise Control) systems, which monitor the front area of the vehicle 2, with the aid of e.g. a radar sensor, and automatically regulate the distance to a preceding vehicle, as well as automatic lane-keeping systems and combinations of such systems.
  • GPS global positioning system
  • ACC Adaptive Cruise Control
  • the detecting arrangement 5 further comprises driver monitoring sensors and input arrangements comprising a driver gaze direction determining arrangement 5a1.
  • driver monitoring sensors and input arrangements comprising a driver gaze direction determining arrangement 5a1.
  • the apparatus will present warning information earlier and give the driver 6 longer time to prepare for the handover of the task of manually driving the vehicle 2.
  • a motor vehicle 2 having autonomous driving capabilities and a vehicle controller 3 arranged to control unmanned autonomous travel that comprises an arrangement 1 for handover warning, as described herein.
  • a method for handover warning in a vehicle 2 having autonomous driving capabilities and a vehicle controller 3 arranged to control unmanned autonomous travel comprises the steps of: monitoring if there is a need to transition from unmanned autonomous travel to manual control of the vehicle 2 using monitoring means 4; monitoring a vehicle driver 6 and evaluating the vehicle driver's readiness to assume the act of driving the vehicle 2 using a detecting arrangement 5; providing warning information when driver-handover is requested by the monitoring means 4, and adapting warning information timing in respect to the evaluated vehicle driver's readiness to assume the act of driving the vehicle 2 using a warning arrangement 7; and outputting the time adapted warning information to a vehicle 2 passenger compartment 9 using a warning output system 8.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Traffic Control Systems (AREA)
  • Combustion & Propulsion (AREA)
  • Chemical & Material Sciences (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)

Claims (9)

  1. Agencement (1) d'avertissement de transfert de commande dans un véhicule (2) équipé de capacités de conduite autonome et d'un contrôleur de véhicule (3) agencé pour commander un déplacement autonome non piloté, comprenant :
    des moyens de contrôle (4), agencés pour contrôler qu'il convient ou non de passer d'un déplacement autonome non piloté à une commande manuelle du véhicule (2) ;
    un agencement de détection (5), agencé pour contrôler un conducteur de véhicule (6) et évaluer l'état de préparation du conducteur du véhicule à prendre la commande de la conduite du véhicule (2) ;
    caractérisé en ce qu'il comprend en outre :
    un agencement d'avertissement (7), agencé pour fournir des informations d'avertissement quand un transfert de la commande au conducteur est demandé par les moyens de contrôle (4), lequel agencement d'avertissement (7) est adapté en outre pour adapter une temporisation des informations d'avertissement relativement à l'état de préparation évalué du conducteur de véhicule à prendre la commande de la conduite du véhicule (2) de telle sorte que le système de production d'avertissement (8) produise les informations d'avertissement plus tôt s'il est détecté que l'état de préparation du conducteur de véhicule à prendre la commande de la conduite du véhicule (2) est faible, et plus tard s'il est détecté que l'état de préparation du conducteur du véhicule à prendre la commande de la conduite du véhicule (2) est élevé ;
    un système de production d'avertissement (8), agencé pour produire les informations d'avertissement adaptées dans le temps dans un habitacle passagers (9) du véhicule (2).
  2. Agencement (1) selon la revendication 1, caractérisé en ce que l'agencement d'avertissement (7) est agencé en outre pour adapter l'urgence des informations d'avertissement de telle sorte que le système de production d'avertissement (8) produisent les informations d'avertissement à un degré d'urgence supérieur s'il est détecté que l'état de préparation du conducteur de véhicule à prendre la commande de la conduite du véhicule (2) est bas, et à un degré d'urgence inférieur s'il est détecté que l'état de préparation du conducteur du véhicule à prendre la commande de la conduite du véhicule (2) est élevé.
  3. Agencement (1) selon l'une quelconque des revendications 1 à 2, caractérisé en ce que l'agencement de détection (5) comprend en outre des capteurs de contrôle du conducteur et des agencements d'entrée comprenant au moins l'un d'une caméra de contrôle du conducteur (5a), d'un capteur de couple de volant (5b) et d'un agencement de détection de position de siège (5c).
  4. Agencement (1) selon l'une quelconque des revendications 1 à 3, caractérisé en ce que les moyens de contrôle (4) sont agencés pour contrôler la disponibilité d'entrées dans le contrôleur de véhicule (3) pour contrôler que celles-ci sont suffisantes pour maintenir un déplacement autonome non piloté du véhicule (2) ou qu'il est nécessaire de passer du déplacement autonome non piloté à une commande manuelle du véhicule (2).
  5. Agencement (1) selon la revendication 4, caractérisé en ce que les moyens de contrôle (4) sont agencés pour contrôler la disponibilité d'entrées dans le contrôleur de véhicule (3) comprenant des entrées depuis au moins l'un de systèmes embarqués de détection de véhicules périphériques, de détection de voies de circulation, de détection d'obstacles et de systèmes de fourniture de données de navigation.
  6. Agencement (1) selon la revendication 3, caractérisé en ce que l'agencement de détection (5) comprend en outre des capteurs de contrôle de conducteur et des agencements d'entrée comprenant un agencement de détermination du sens du regard du conducteur (5al).
  7. Agencement (1) selon l'une quelconque des revendications précédentes, caractérisé en ce que le système de production d'avertissement (8) est agencé pour produire les informations d'avertissement adaptées dans le temps dans l'habitacle passagers (9) du véhicule (2) sous forme au moins d'un avertissement visuel, d'un avertissement sonore et d'un avertissement haptique.
  8. Véhicule automobile (2) doté de capacités de conduite autonome et d'un contrôleur de véhicule (3) agencé pour commander un déplacement autonome non piloté, caractérisé en ce qu'il comprend un agencement (1) d'avertissement de transfert de commande selon l'une quelconque des revendications 1 à 7.
  9. Procédé d'avertissement de transfert de commande dans un véhicule (2) équipé de capacités de conduite autonome et d'un contrôleur de véhicule (3) agencé pour commander un déplacement autonome non piloté, comprenant les étapes consistant à :
    contrôler qu'il convient ou non de passer d'un déplacement autonome non piloté à une commande manuelle du véhicule (2) en utilisant des moyens de contrôle (4) ;
    contrôler un conducteur de véhicule (6) et évaluer l'état de préparation du conducteur du véhicule à prendre la commande de la conduite du véhicule (2) en utilisant un agencement de détection (5) ;
    caractérisé en ce qu'il comprend en outre les étapes consistant à :
    fournir des informations d'avertissement quand un transfert de la commande au conducteur est demandé par les moyens de contrôle (4), et adapter une temporisation des informations d'avertissement relativement à l'état de préparation évalué du conducteur de véhicule à prendre la commande de la conduite du véhicule (2) en utilisant un agencement d'avertissement (7) de telle sorte que le système de production d'avertissement (8) produise les informations d'avertissement plus tôt s'il est détecté que l'état de préparation du conducteur de véhicule à prendre la commande de la conduite du véhicule (2) est faible, et plus tard s'il est détecté que l'état de préparation du conducteur du véhicule à prendre la commande de la conduite du véhicule (2) est élevé ; et
    produire les informations d'avertissement adaptées dans le temps dans un habitacle passagers (9) du véhicule (2) en utilisant un système de production d'avertissement (8).
EP13184098.5A 2013-09-12 2013-09-12 Procédé et agencement pour avertissement de transfert de commande dans un véhicule possédant des capacités de conduite autonome Active EP2848488B2 (fr)

Priority Applications (2)

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EP13184098.5A EP2848488B2 (fr) 2013-09-12 2013-09-12 Procédé et agencement pour avertissement de transfert de commande dans un véhicule possédant des capacités de conduite autonome
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EP2848488A1 (fr) 2015-03-18
EP2848488B1 (fr) 2017-08-23
US9235211B2 (en) 2016-01-12

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